ECL_WheelController Class Reference

#include <ecl_wheel_controller.h>

Inheritance diagram for ECL_WheelController:

Collaboration diagram for ECL_WheelController:

Public Member Functions
	ECL_WheelController ()=default
	~ECL_WheelController ()=default
float	control_attitude (const struct ECL_ControlData &ctl_data) override
float	control_bodyrate (const struct ECL_ControlData &ctl_data) override
float	control_euler_rate (const struct ECL_ControlData &ctl_data) override
Public Member Functions inherited from ECL_Controller
	ECL_Controller ()
virtual	~ECL_Controller ()=default
void	set_time_constant (float time_constant)
void	set_k_p (float k_p)
void	set_k_i (float k_i)
void	set_k_ff (float k_ff)
void	set_integrator_max (float max)
void	set_max_rate (float max_rate)
void	set_bodyrate_setpoint (float rate)
float	get_rate_error ()
float	get_desired_rate ()
float	get_desired_bodyrate ()
float	get_integrator ()
void	reset_integrator ()

Additional Inherited Members
Protected Member Functions inherited from ECL_Controller
float	constrain_airspeed (float airspeed, float minspeed, float maxspeed)
Protected Attributes inherited from ECL_Controller
uint64_t	_last_run
float	_tc
float	_k_p
float	_k_i
float	_k_ff
float	_integrator_max
float	_max_rate
float	_last_output
float	_integrator
float	_rate_error
float	_rate_setpoint
float	_bodyrate_setpoint

Detailed Description

Definition at line 54 of file ecl_wheel_controller.h.

Constructor & Destructor Documentation

ECL_WheelController()

ECL_WheelController::ECL_WheelController ( )

default

~ECL_WheelController()

ECL_WheelController::~ECL_WheelController ( )

default

Member Function Documentation

control_attitude()

float ECL_WheelController::control_attitude ( const struct ECL_ControlData &  ctl_data )

overridevirtual

Implements ECL_Controller.

Definition at line 104 of file ecl_wheel_controller.cpp.

References ECL_Controller::_max_rate, ECL_Controller::_rate_setpoint, ECL_Controller::_tc, f(), ISFINITE, matrix::wrap_pi(), ECL_ControlData::yaw, and ECL_ControlData::yaw_setpoint.

Referenced by FixedwingAttitudeControl::Run().

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control_bodyrate()

float ECL_WheelController::control_bodyrate ( const struct ECL_ControlData &  ctl_data )

overridevirtual

Implements ECL_Controller.

Definition at line 49 of file ecl_wheel_controller.cpp.

References ECL_Controller::_integrator, ECL_Controller::_integrator_max, ECL_Controller::_k_ff, ECL_Controller::_k_i, ECL_Controller::_k_p, ECL_Controller::_last_output, ECL_Controller::_last_run, ECL_Controller::_rate_error, ECL_Controller::_rate_setpoint, ECL_ControlData::body_z_rate, math::constrain(), dt, ecl_absolute_time, ecl_elapsed_time, f(), ECL_ControlData::groundspeed, ECL_ControlData::groundspeed_scaler, ISFINITE, ECL_ControlData::lock_integrator, math::max(), and math::min().

Referenced by FixedwingAttitudeControl::Run().

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control_euler_rate()

float ECL_WheelController::control_euler_rate ( const struct ECL_ControlData &  ctl_data )

inlineoverridevirtual

Implements ECL_Controller.

Definition at line 65 of file ecl_wheel_controller.h.

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The documentation for this class was generated from the following files:

• src/lib/ecl/attitude_fw/ecl_wheel_controller.h
• src/lib/ecl/attitude_fw/ecl_wheel_controller.cpp